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<h1>VREP_obj</h1><p><span class="helptopic">V-REP mirror of simple object</span></p><p>
Mirror objects are MATLAB objects that reflect objects in the V-REP
environment.  Methods allow the V-REP state to be examined or changed.

</p>
<p>
This is a concrete class, derived from VREP_mirror, for all V-REP objects
and allows access to pose and object parameters.

</p>
<h2>Example</h2>
<pre style="width: 90%%;" class="examples">
vrep&nbsp;=&nbsp;VREP();
bill&nbsp;=&nbsp;vrep.object('Bill');&nbsp;&nbsp;%&nbsp;get&nbsp;the&nbsp;human&nbsp;figure&nbsp;Bill
bill.setpos([1,2,0]);
bill.setorient([0&nbsp;pi/2&nbsp;0]);
</pre>
<p>
Methods throw exception if an error occurs.

</p>
<h2>Methods</h2>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> getpos</td> <td>get position of object</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> setpos</td> <td>set position of object</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> getorient</td> <td>get orientation of object</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> setorient</td> <td>set orientation of object</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> getpose</td> <td>get pose of object</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> setpose</td> <td>set pose of object</td></tr>
</table>
<h2>Superclass methods (VREP_mirror)</h2>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> getname</td> <td>get object name</td></tr>
  <tr></tr>
  <tr></tr>  <tr><td style="white-space: nowrap;" class="col1"> setparam_bool</td> <td>set object boolean parameter</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> setparam_int</td> <td>set object integer parameter</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> setparam_float</td> <td>set object float parameter</td></tr>
  <tr></tr>
  <tr></tr>  <tr><td style="white-space: nowrap;" class="col1"> getparam_bool</td> <td>get object boolean parameter</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> getparam_int</td> <td>get object integer parameter</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> getparam_float</td> <td>get object float parameter</td></tr>
  <tr></tr>
  <tr></tr>  <tr><td style="white-space: nowrap;" class="col1"> display</td> <td>print the link parameters in human readable form</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> char</td> <td>convert to string</td></tr>
</table>
<h2>See also</h2>
<p>
<a href="VREP_mirror.html">VREP_mirror</a>, <a href="VREP_obj.html">VREP_obj</a>, <a href="VREP_arm.html">VREP_arm</a>, <a href="VREP_camera.html">VREP_camera</a>, <a href="VREP_hokuyo.html">VREP_hokuyo</a></p>
<hr>
<a name="VREP_obj"><h1>VREP_obj.VREP_obj</h1></a>
<p><span class="helptopic">VREP_obj mirror object constructor</span></p><p>
<strong>v</strong> = <span style="color:red">VREP_base</span>(<strong>name</strong>) creates a V-REP mirror object for a
simple V-REP object type.

</p>
<hr>
<a name="getorient"><h1>VREP_obj.getorient</h1></a>
<p><span class="helptopic">Get orientation of V-REP object</span></p><p>
V.<span style="color:red">getorient</span>() is the orientation of the corresponding V-REP
object as a rotation matrix (3x3).

</p>
<p>
V.<span style="color:red">getorient</span>('euler', OPTIONS) as above but returns ZYZ Euler
angles.

</p>
<p>
V.<span style="color:red">getorient</span>(<strong>base</strong>) is the orientation of the corresponding V-REP
object relative to the <span style="color:red">VREP_obj</span> object <strong>base</strong>.

</p>
<p>
V.<span style="color:red">getorient</span>(<strong>base</strong>, 'euler', OPTIONS) as above but returns ZYZ Euler
angles.

</p>
<h2>Options</h2>
<p>
See tr2eul.

</p>
<h2>See also</h2>
<p>
<a href="VREP_obj.setorient.html">VREP_obj.setorient</a>, <a href="VREP_obj.getopos.html">VREP_obj.getopos</a>, <a href="VREP_obj.getpose.html">VREP_obj.getpose</a></p>
<hr>
<a name="getpos"><h1>VREP_obj.getpos</h1></a>
<p><span class="helptopic">Get position of V-REP object</span></p><p>
V.<span style="color:red">getpos</span>() is the position (1x3) of the corresponding V-REP object.

</p>
<p>
V.<span style="color:red">getpos</span>(<strong>base</strong>) as above but position is relative to the <span style="color:red">VREP_obj</span>
object <strong>base</strong>.

</p>
<h2>See also</h2>
<p>
<a href="VREP_obj.setpos.html">VREP_obj.setpos</a>, <a href="VREP_obj.getorient.html">VREP_obj.getorient</a>, <a href="VREP_obj.getpose.html">VREP_obj.getpose</a></p>
<hr>
<a name="getpose"><h1>VREP_obj.getpose</h1></a>
<p><span class="helptopic">Get pose of V-REP object</span></p><p>
V.<span style="color:red">getpose</span>() is the pose (4x4) of the the corresponding V-REP object.

</p>
<p>
V.<span style="color:red">getpose</span>(<strong>base</strong>) as above but pose is relative to the
pose the <span style="color:red">VREP_obj</span> object <strong>base</strong>.

</p>
<h2>See also</h2>
<p>
<a href="VREP_obj.setpose.html">VREP_obj.setpose</a>, <a href="VREP_obj.getorient.html">VREP_obj.getorient</a>, <a href="VREP_obj.getpos.html">VREP_obj.getpos</a></p>
<hr>
<a name="setorient"><h1>VREP_obj.setorient</h1></a>
<p><span class="helptopic">Set orientation of V-REP object</span></p><p>
V.<span style="color:red">setorient</span>(<strong>R</strong>) sets the orientation of the corresponding V-REP to rotation matrix <strong>R</strong> (3x3).

</p>
<p>
V.<span style="color:red">setorient</span>(<strong>T</strong>) sets the orientation of the corresponding V-REP object to rotational component of homogeneous transformation matrix
<strong>T</strong> (4x4).

</p>
<p>
V.<span style="color:red">setorient</span>(<strong>E</strong>) sets the orientation of the corresponding V-REP object to ZYZ Euler angles (1x3).

</p>
<p>
V.<span style="color:red">setorient</span>(<strong>x</strong>, <strong>base</strong>) as above but orientation is set relative to the
orientation of <span style="color:red">VREP_obj</span> object <strong>base</strong>.

</p>
<h2>See also</h2>
<p>
<a href="VREP_obj.getorient.html">VREP_obj.getorient</a>, <a href="VREP_obj.setpos.html">VREP_obj.setpos</a>, <a href="VREP_obj.setpose.html">VREP_obj.setpose</a></p>
<hr>
<a name="setpos"><h1>VREP_obj.setpos</h1></a>
<p><span class="helptopic">Set position of V-REP object</span></p><p>
V.<span style="color:red">setpos</span>(<strong>T</strong>) sets the position of the corresponding V-REP object
to <strong>T</strong> (1x3).

</p>
<p>
V.<span style="color:red">setpos</span>(<strong>T</strong>, <strong>base</strong>) as above but position is set relative to the
position of the <span style="color:red">VREP_obj</span> object <strong>base</strong>.

</p>
<h2>See also</h2>
<p>
<a href="VREP_obj.getpos.html">VREP_obj.getpos</a>, <a href="VREP_obj.setorient.html">VREP_obj.setorient</a>, <a href="VREP_obj.setpose.html">VREP_obj.setpose</a></p>
<hr>
<a name="setpose"><h1>VREP_obj.setpose</h1></a>
<p><span class="helptopic">Set pose of V-REP object</span></p><p>
V.<span style="color:red">setpose</span>(<strong>T</strong>) sets the pose of the corresponding V-REP object
to <strong>T</strong> (4x4).

</p>
<p>
V.<span style="color:red">setpose</span>(<strong>T</strong>, <strong>base</strong>) as above but pose is set relative to the
pose of the <span style="color:red">VREP_obj</span> object <strong>base</strong>.

</p>
<h2>See also</h2>
<p>
<a href="VREP_obj.getpose.html">VREP_obj.getpose</a>, <a href="VREP_obj.setorient.html">VREP_obj.setorient</a>, <a href="VREP_obj.setpos.html">VREP_obj.setpos</a></p>
<hr>

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